class EdgeItem(GraphItem):
_qt_pen_styles = {
'dashed': Qt.DashLine,
'dotted': Qt.DotLine,
'solid': Qt.SolidLine,
}
def __init__(self,
highlight_level,
spline,
label_center,
label,
from_node,
to_node,
parent=None,
penwidth=1,
edge_color=None,
style='solid'):
super(EdgeItem, self).__init__(highlight_level, parent)
self.from_node = from_node
self.from_node.add_outgoing_edge(self)
self.to_node = to_node
self.to_node.add_incoming_edge(self)
self._default_edge_color = self._COLOR_BLACK
if edge_color is not None:
self._default_edge_color = edge_color
self._default_text_color = self._COLOR_BLACK
self._default_color = self._COLOR_BLACK
self._text_brush = QBrush(self._default_color)
self._shape_brush = QBrush(self._default_color)
if style in ['dashed', 'dotted']:
self._shape_brush = QBrush(Qt.transparent)
self._label_pen = QPen()
self._label_pen.setColor(self._default_text_color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._edge_pen = QPen(self._label_pen)
self._edge_pen.setWidth(penwidth)
self._edge_pen.setColor(self._default_edge_color)
self._edge_pen.setStyle(self._qt_pen_styles.get(style, Qt.SolidLine))
self._sibling_edges = set()
self._label = None
if label is not None:
self._label = QGraphicsSimpleTextItem(label)
self._label.setFont(GraphItem._LABEL_FONT)
label_rect = self._label.boundingRect()
label_rect.moveCenter(label_center)
self._label.setPos(label_rect.x(), label_rect.y())
self._label.hoverEnterEvent = self._handle_hoverEnterEvent
self._label.hoverLeaveEvent = self._handle_hoverLeaveEvent
self._label.setAcceptHoverEvents(True)
# spline specification according to http://www.graphviz.org/doc/info/attrs.html#k:splineType
coordinates = spline.split(' ')
# extract optional end_point
end_point = None
if (coordinates[0].startswith('e,')):
parts = coordinates.pop(0)[2:].split(',')
end_point = QPointF(float(parts[0]), -float(parts[1]))
# extract optional start_point
if (coordinates[0].startswith('s,')):
parts = coordinates.pop(0).split(',')
# first point
parts = coordinates.pop(0).split(',')
point = QPointF(float(parts[0]), -float(parts[1]))
path = QPainterPath(point)
while len(coordinates) > 2:
# extract triple of points for a cubic spline
parts = coordinates.pop(0).split(',')
point1 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point2 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point3 = QPointF(float(parts[0]), -float(parts[1]))
path.cubicTo(point1, point2, point3)
self._arrow = None
if end_point is not None:
# draw arrow
self._arrow = QGraphicsPolygonItem()
polygon = QPolygonF()
polygon.append(point3)
offset = QPointF(end_point - point3)
corner1 = QPointF(-offset.y(), offset.x()) * 0.35
corner2 = QPointF(offset.y(), -offset.x()) * 0.35
polygon.append(point3 + corner1)
polygon.append(end_point)
polygon.append(point3 + corner2)
self._arrow.setPolygon(polygon)
self._arrow.hoverEnterEvent = self._handle_hoverEnterEvent
self._arrow.hoverLeaveEvent = self._handle_hoverLeaveEvent
self._arrow.setAcceptHoverEvents(True)
self._path = QGraphicsPathItem()
self._path.setPath(path)
self.addToGroup(self._path)
self.set_node_color()
self.set_label_color()
def add_to_scene(self, scene):
scene.addItem(self)
if self._label is not None:
scene.addItem(self._label)
if self._arrow is not None:
scene.addItem(self._arrow)
def setToolTip(self, tool_tip):
super(EdgeItem, self).setToolTip(tool_tip)
if self._label is not None:
self._label.setToolTip(tool_tip)
if self._arrow is not None:
self._arrow.setToolTip(tool_tip)
def add_sibling_edge(self, edge):
self._sibling_edges.add(edge)
def set_node_color(self, color=None):
if color is None:
self._label_pen.setColor(self._default_text_color)
self._text_brush.setColor(self._default_color)
if self._shape_brush.isOpaque():
self._shape_brush.setColor(self._default_edge_color)
self._edge_pen.setColor(self._default_edge_color)
else:
self._label_pen.setColor(color)
self._text_brush.setColor(color)
if self._shape_brush.isOpaque():
self._shape_brush.setColor(color)
self._edge_pen.setColor(color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._shape_brush)
self._arrow.setPen(self._edge_pen)
def set_label_color(self, color=None):
if color is None:
self._label_pen.setColor(self._default_text_color)
else:
self._label_pen.setColor(color)
if self._label is not None:
self._label.setBrush(self._text_brush)
self._label.setPen(self._label_pen)
def _handle_hoverEnterEvent(self, event):
# hovered edge item in red
self.set_node_color(self._COLOR_RED)
self.set_label_color(self._COLOR_RED)
if self._highlight_level > 1:
if self.from_node != self.to_node:
# from-node in blue
self.from_node.set_node_color(self._COLOR_BLUE)
# to-node in green
self.to_node.set_node_color(self._COLOR_GREEN)
else:
# from-node/in-node in teal
self.from_node.set_node_color(self._COLOR_TEAL)
self.to_node.set_node_color(self._COLOR_TEAL)
if self._highlight_level > 2:
# sibling edges in orange
for sibling_edge in self._sibling_edges:
sibling_edge.set_node_color(self._COLOR_ORANGE)
def _handle_hoverLeaveEvent(self, event):
self.set_node_color()
self.set_label_color()
if self._highlight_level > 1:
self.from_node.set_node_color()
self.to_node.set_node_color()
if self._highlight_level > 2:
for sibling_edge in self._sibling_edges:
sibling_edge.set_node_color()
class NodeItem(GraphItem):
def __init__(self, highlight_level, bounding_box, label, shape, color=None, parent=None, label_pos=None,
tooltip=None):
super(NodeItem, self).__init__(highlight_level, parent)
self._topic, self._node = False, False
self._default_color = self._COLOR_BLACK if color is None else color
self._brush = QBrush(self._default_color)
self._label_pen = QPen()
self._label_pen.setColor(self._default_color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._ellipse_pen = QPen(self._label_pen)
self._ellipse_pen.setWidth(1)
self._incoming_edges = set()
self._outgoing_edges = set()
self.parse_shape(shape, bounding_box, label)
self.addToGroup(self._graphics_item)
self._label = QGraphicsSimpleTextItem(label)
self._label.setFont(GraphItem._LABEL_FONT)
label_rect = self._label.boundingRect()
if label_pos is None:
label_rect.moveCenter(bounding_box.center())
else:
label_rect.moveCenter(label_pos)
self._label.setPos(label_rect.x(), label_rect.y())
self.addToGroup(self._label)
if tooltip is not None:
self.setToolTip(tooltip)
self.set_node_color()
self.setAcceptHoverEvents(True)
self.hovershape = None
def parse_shape(self, shape, bounding_box, label):
if shape in ('box', 'rect', 'rectangle'):
self._graphics_item = QGraphicsRectItem(bounding_box)
self._topic = label in [topic_info[0] for topic_info in rp.get_published_topics()]
elif shape in ('ellipse', 'oval', 'circle'):
self._graphics_item = QGraphicsEllipseItem(bounding_box)
self._node = label in get_node_names("/")
elif shape in ('box3d',):
self._graphics_item = QGraphicsBox3dItem(bounding_box)
else:
print("Invalid shape '%s', defaulting to ellipse" % shape, file=sys.stderr)
self._graphics_item = QGraphicsEllipseItem(bounding_box)
def set_hovershape(self, newhovershape):
self.hovershape = newhovershape
def shape(self):
if self.hovershape is not None:
path = QPainterPath()
path.addRect(self.hovershape)
return path
else:
return super(self.__class__, self).shape()
def add_incoming_edge(self, edge):
self._incoming_edges.add(edge)
def add_outgoing_edge(self, edge):
self._outgoing_edges.add(edge)
def set_node_color(self, color=None):
if color is None:
color = self._default_color
self._brush.setColor(color)
self._ellipse_pen.setColor(color)
self._label_pen.setColor(color)
self._graphics_item.setPen(self._ellipse_pen)
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)
def hoverEnterEvent(self, event):
# hovered node item in red
self.set_node_color(self._COLOR_RED)
if self._highlight_level > 1:
cyclic_edges = self._incoming_edges.intersection(self._outgoing_edges)
# incoming edges in blue
incoming_nodes = set()
for incoming_edge in self._incoming_edges.difference(cyclic_edges):
incoming_edge.set_node_color(self._COLOR_BLUE)
incoming_edge.set_label_color(self._COLOR_BLUE)
if incoming_edge.from_node != self:
incoming_nodes.add(incoming_edge.from_node)
# outgoing edges in green
outgoing_nodes = set()
for outgoing_edge in self._outgoing_edges.difference(cyclic_edges):
outgoing_edge.set_node_color(self._COLOR_GREEN)
outgoing_edge.set_label_color(self._COLOR_GREEN)
if outgoing_edge.to_node != self:
outgoing_nodes.add(outgoing_edge.to_node)
# incoming/outgoing edges in teal
for edge in cyclic_edges:
edge.set_node_color(self._COLOR_TEAL)
if self._highlight_level > 2:
cyclic_nodes = incoming_nodes.intersection(outgoing_nodes)
# incoming nodes in blue
for incoming_node in incoming_nodes.difference(cyclic_nodes):
incoming_node.set_node_color(self._COLOR_BLUE)
# outgoing nodes in green
for outgoing_node in outgoing_nodes.difference(cyclic_nodes):
outgoing_node.set_node_color(self._COLOR_GREEN)
# incoming/outgoing nodes in teal
for node in cyclic_nodes:
node.set_node_color(self._COLOR_TEAL)
def hoverLeaveEvent(self, event):
self.set_node_color()
if self._highlight_level > 1:
for incoming_edge in self._incoming_edges:
incoming_edge.set_node_color()
incoming_edge.set_label_color()
if self._highlight_level > 2 and incoming_edge.from_node != self:
incoming_edge.from_node.set_node_color()
for outgoing_edge in self._outgoing_edges:
outgoing_edge.set_node_color()
outgoing_edge.set_label_color()
if self._highlight_level > 2 and outgoing_edge.to_node != self:
outgoing_edge.to_node.set_node_color()
def mouseDoubleClickEvent(self, event):
if self._topic:
system("terminator --title {} -e \"rostopic echo -c {} -w 6\" &".format(str(self._label.text()),
str(self._label.text())))
elif self._node:
system("terminator -hold --title {} -e \"rosnode info {}\" &".format(str(self._label.text()),
str(self._label.text())))
class EdgeItem(GraphItem):
EDGE_PEN_WIDTH = 0.5
def __init__(self, spline, label, label_center, from_node, to_node, parent=None, **kwargs):
super(EdgeItem, self).__init__(parent, **kwargs)
self._edge_pen_width = kwargs.get('edge_pen_width', self.EDGE_PEN_WIDTH)
self.from_node = from_node
self.from_node.add_outgoing_edge(self)
self.to_node = to_node
self.to_node.add_incoming_edge(self)
self._brush = QBrush(self._color)
self._label_pen = QPen()
self._label_pen.setColor(self._color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._label_pen.setWidthF(self._label_pen_width)
self._edge_pen = QPen()
self._edge_pen.setColor(self._color)
self._edge_pen.setWidthF(self._edge_pen_width)
self._sibling_edges = set()
self._label = None
if label is not None:
self._label = QGraphicsSimpleTextItem(label)
font = self._label.font()
font.setPointSize(8)
self._label.setFont(font)
label_rect = self._label.boundingRect()
label_rect.moveCenter(label_center)
self._label.setPos(label_rect.x(), label_rect.y())
# spline specification according to http://www.graphviz.org/doc/info/attrs.html#k:splineType
coordinates = spline.split(' ')
# extract optional end_point
end_point = None
if coordinates[0].startswith('e,'):
parts = coordinates.pop(0)[2:].split(',')
end_point = QPointF(float(parts[0]), -float(parts[1]))
# extract optional start_point
if coordinates[0].startswith('s,'):
parts = coordinates.pop(0).split(',')
# first point
parts = coordinates.pop(0).split(',')
point = QPointF(float(parts[0]), -float(parts[1]))
path = QPainterPath(point)
while len(coordinates) > 2:
# extract triple of points for a cubic spline
parts = coordinates.pop(0).split(',')
point1 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point2 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point3 = QPointF(float(parts[0]), -float(parts[1]))
path.cubicTo(point1, point2, point3)
self._arrow = None
if end_point is not None:
# draw arrow
self._arrow = QGraphicsPolygonItem()
polygon = QPolygonF()
polygon.append(point3)
offset = QPointF(end_point - point3)
corner1 = QPointF(-offset.y(), offset.x()) * 0.35
corner2 = QPointF(offset.y(), -offset.x()) * 0.35
polygon.append(point3 + corner1)
polygon.append(end_point)
polygon.append(point3 + corner2)
self._arrow.setPolygon(polygon)
self._path = QGraphicsPathItem()
self._path.setPath(path)
self.addToGroup(self._path)
self._brush.setColor(self._color)
self._edge_pen.setColor(self._color)
self._label_pen.setColor(self._color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._brush)
self._arrow.setPen(self._edge_pen)
if self._label is not None:
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)
def add_to_scene(self, scene):
scene.addItem(self)
if self._label is not None:
scene.addItem(self._label)
if self._arrow is not None:
scene.addItem(self._arrow)
def setToolTip(self, tool_tip):
super(EdgeItem, self).setToolTip(tool_tip)
if self._label is not None:
self._label.setToolTip(tool_tip)
if self._arrow is not None:
self._arrow.setToolTip(tool_tip)
def add_sibling_edge(self, edge):
self._sibling_edges.add(edge)
def set_color(self, color=None):
if color is None:
color = self._color
self._brush.setColor(color)
self._edge_pen.setColor(color)
self._label_pen.setColor(color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._brush)
self._arrow.setPen(self._edge_pen)
if self._label is not None:
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)
class NodeItem(GraphItem):
def __init__(self, highlight_level, bounding_box, label, shape, color=None, parent=None, label_pos=None, tooltip=None):
super(NodeItem, self).__init__(highlight_level, parent)
self._default_color = self._COLOR_BLACK if color is None else color
self._brush = QBrush(self._default_color)
self._label_pen = QPen()
self._label_pen.setColor(self._default_color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._ellipse_pen = QPen(self._label_pen)
self._ellipse_pen.setWidth(1)
self._incoming_edges = set()
self._outgoing_edges = set()
if shape == 'box':
self._graphics_item = QGraphicsRectItem(bounding_box)
else:
self._graphics_item = QGraphicsEllipseItem(bounding_box)
self.addToGroup(self._graphics_item)
self._label = QGraphicsSimpleTextItem(label)
self._label.setFont(GraphItem._LABEL_FONT)
label_rect = self._label.boundingRect()
if label_pos is None:
label_rect.moveCenter(bounding_box.center())
else:
label_rect.moveCenter(label_pos)
self._label.setPos(label_rect.x(), label_rect.y())
self.addToGroup(self._label)
if tooltip is not None:
self.setToolTip(tooltip)
self.set_node_color()
self.setAcceptHoverEvents(True)
self.hovershape = None
def set_hovershape(self, newhovershape):
self.hovershape = newhovershape
def shape(self):
if self.hovershape is not None:
path = QPainterPath()
path.addRect(self.hovershape)
return path
else:
return super(self.__class__, self).shape()
def add_incoming_edge(self, edge):
self._incoming_edges.add(edge)
def add_outgoing_edge(self, edge):
self._outgoing_edges.add(edge)
def set_node_color(self, color=None):
if color is None:
color = self._default_color
self._brush.setColor(color)
self._ellipse_pen.setColor(color)
self._label_pen.setColor(color)
self._graphics_item.setPen(self._ellipse_pen)
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)
def hoverEnterEvent(self, event):
# hovered node item in red
self.set_node_color(self._COLOR_RED)
if self._highlight_level > 1:
cyclic_edges = self._incoming_edges.intersection(self._outgoing_edges)
# incoming edges in blue
incoming_nodes = set()
for incoming_edge in self._incoming_edges.difference(cyclic_edges):
incoming_edge.set_node_color(self._COLOR_BLUE)
incoming_edge.set_label_color(self._COLOR_BLUE)
if incoming_edge.from_node != self:
incoming_nodes.add(incoming_edge.from_node)
# outgoing edges in green
outgoing_nodes = set()
for outgoing_edge in self._outgoing_edges.difference(cyclic_edges):
outgoing_edge.set_node_color(self._COLOR_GREEN)
outgoing_edge.set_label_color(self._COLOR_GREEN)
if outgoing_edge.to_node != self:
outgoing_nodes.add(outgoing_edge.to_node)
# incoming/outgoing edges in teal
for edge in cyclic_edges:
edge.set_node_color(self._COLOR_TEAL)
if self._highlight_level > 2:
cyclic_nodes = incoming_nodes.intersection(outgoing_nodes)
# incoming nodes in blue
for incoming_node in incoming_nodes.difference(cyclic_nodes):
incoming_node.set_node_color(self._COLOR_BLUE)
# outgoing nodes in green
for outgoing_node in outgoing_nodes.difference(cyclic_nodes):
outgoing_node.set_node_color(self._COLOR_GREEN)
# incoming/outgoing nodes in teal
for node in cyclic_nodes:
node.set_node_color(self._COLOR_TEAL)
def hoverLeaveEvent(self, event):
self.set_node_color()
if self._highlight_level > 1:
for incoming_edge in self._incoming_edges:
incoming_edge.set_node_color()
incoming_edge.set_label_color()
if self._highlight_level > 2 and incoming_edge.from_node != self:
incoming_edge.from_node.set_node_color()
for outgoing_edge in self._outgoing_edges:
outgoing_edge.set_node_color()
outgoing_edge.set_label_color()
if self._highlight_level > 2 and outgoing_edge.to_node != self:
outgoing_edge.to_node.set_node_color()
class EdgeItem(GraphItem):
EDGE_PEN_WIDTH = 0.5
def __init__(self,
spline,
label,
label_center,
from_node,
to_node,
parent=None,
**kwargs):
super(EdgeItem, self).__init__(parent, **kwargs)
self._edge_pen_width = kwargs.get('edge_pen_width',
self.EDGE_PEN_WIDTH)
self.from_node = from_node
self.from_node.add_outgoing_edge(self)
self.to_node = to_node
self.to_node.add_incoming_edge(self)
self._brush = QBrush(self._color)
self._label_pen = QPen()
self._label_pen.setColor(self._color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._label_pen.setWidthF(self._label_pen_width)
self._edge_pen = QPen()
self._edge_pen.setColor(self._color)
self._edge_pen.setWidthF(self._edge_pen_width)
self._sibling_edges = set()
self._label = None
if label is not None:
self._label = QGraphicsSimpleTextItem(label)
font = self._label.font()
font.setPointSize(8)
self._label.setFont(font)
label_rect = self._label.boundingRect()
label_rect.moveCenter(label_center)
self._label.setPos(label_rect.x(), label_rect.y())
# spline specification according to http://www.graphviz.org/doc/info/attrs.html#k:splineType
coordinates = spline.split(' ')
# extract optional end_point
end_point = None
if coordinates[0].startswith('e,'):
parts = coordinates.pop(0)[2:].split(',')
end_point = QPointF(float(parts[0]), -float(parts[1]))
# extract optional start_point
if coordinates[0].startswith('s,'):
parts = coordinates.pop(0).split(',')
# first point
parts = coordinates.pop(0).split(',')
point = QPointF(float(parts[0]), -float(parts[1]))
path = QPainterPath(point)
while len(coordinates) > 2:
# extract triple of points for a cubic spline
parts = coordinates.pop(0).split(',')
point1 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point2 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point3 = QPointF(float(parts[0]), -float(parts[1]))
path.cubicTo(point1, point2, point3)
self._arrow = None
if end_point is not None:
# draw arrow
self._arrow = QGraphicsPolygonItem()
polygon = QPolygonF()
polygon.append(point3)
offset = QPointF(end_point - point3)
corner1 = QPointF(-offset.y(), offset.x()) * 0.35
corner2 = QPointF(offset.y(), -offset.x()) * 0.35
polygon.append(point3 + corner1)
polygon.append(end_point)
polygon.append(point3 + corner2)
self._arrow.setPolygon(polygon)
self._path = QGraphicsPathItem()
self._path.setPath(path)
self.addToGroup(self._path)
self._brush.setColor(self._color)
self._edge_pen.setColor(self._color)
self._label_pen.setColor(self._color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._brush)
self._arrow.setPen(self._edge_pen)
if self._label is not None:
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)
def add_to_scene(self, scene):
scene.addItem(self)
if self._label is not None:
scene.addItem(self._label)
if self._arrow is not None:
scene.addItem(self._arrow)
def setToolTip(self, tool_tip):
super(EdgeItem, self).setToolTip(tool_tip)
if self._label is not None:
self._label.setToolTip(tool_tip)
if self._arrow is not None:
self._arrow.setToolTip(tool_tip)
def add_sibling_edge(self, edge):
self._sibling_edges.add(edge)
def set_color(self, color=None):
if color is None:
color = self._color
self._brush.setColor(color)
self._edge_pen.setColor(color)
self._label_pen.setColor(color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._brush)
self._arrow.setPen(self._edge_pen)
if self._label is not None:
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)